#define MAG_ADDRESS            0x1E
#define ACC_ADDRESS            0x1E
#define GYR_ADDRESS            0x6A



/** LSM9DS0 Gyro Registers **/
#define WHO_AM_I_G			0x0F
#define CTRL_REG1_G			0x20
#define CTRL_REG2_G			0x21
#define CTRL_REG3_G			0x22
#define CTRL_REG4_G			0x23
#define CTRL_REG5_G			0x24
#define REFERENCE_G			0x25
#define STATUS_REG_G			0x27
#define OUT_X_L_G			0x28
#define OUT_X_H_G			0x29
#define OUT_Y_L_G			0x2A
#define OUT_Y_H_G			0x2B
#define OUT_Z_L_G			0x2C
#define OUT_Z_H_G			0x2D
#define FIFO_CTRL_REG_G			0x2E
#define FIFO_SRC_REG_G			0x2F
#define INT1_CFG_G			0x30
#define INT1_SRC_G			0x31
#define INT1_THS_XH_G			0x32
#define INT1_THS_XL_G			0x33
#define INT1_THS_YH_G			0x34
#define INT1_THS_YL_G			0x35
#define INT1_THS_ZH_G			0x36
#define INT1_THS_ZL_G			0x37
#define INT1_DURATION_G			0x38

//////////////////////////////////////////
// LSM9DS0 Accel/Magneto (XM) Registers //
//////////////////////////////////////////
#define OUT_TEMP_L_XM			0x05
#define OUT_TEMP_H_XM			0x06
#define STATUS_REG_M			0x07
#define OUT_X_L_M			0x08
#define OUT_X_H_M			0x09
#define OUT_Y_L_M			0x0A
#define OUT_Y_H_M			0x0B
#define OUT_Z_L_M			0x0C
#define OUT_Z_H_M			0x0D
#define WHO_AM_I_XM			0x0F
#define INT_CTRL_REG_M			0x12
#define INT_SRC_REG_M			0x13
#define INT_THS_L_M			0x14
#define INT_THS_H_M			0x15
#define OFFSET_X_L_M			0x16
#define OFFSET_X_H_M			0x17
#define OFFSET_Y_L_M			0x18
#define OFFSET_Y_H_M			0x19
#define OFFSET_Z_L_M			0x1A
#define OFFSET_Z_H_M			0x1B
#define REFERENCE_X			0x1C
#define REFERENCE_Y			0x1D
#define REFERENCE_Z			0x1E
#define CTRL_REG0_XM			0x1F
#define CTRL_REG1_XM			0x20
#define CTRL_REG2_XM			0x21
#define CTRL_REG3_XM			0x22
#define CTRL_REG4_XM			0x23
#define CTRL_REG5_XM			0x24
#define CTRL_REG6_XM			0x25
#define CTRL_REG7_XM			0x26
#define STATUS_REG_A			0x27
#define OUT_X_L_A			0x28
#define OUT_X_H_A			0x29
#define OUT_Y_L_A			0x2A
#define OUT_Y_H_A			0x2B
#define OUT_Z_L_A			0x2C
#define OUT_Z_H_A			0x2D
#define FIFO_CTRL_REG			0x2E
#define FIFO_SRC_REG			0x2F
#define INT_GEN_1_REG			0x30
#define INT_GEN_1_SRC			0x31
#define INT_GEN_1_THS			0x32
#define INT_GEN_1_DURATION		0x33
#define INT_GEN_2_REG			0x34
#define INT_GEN_2_SRC			0x35
#define INT_GEN_2_THS			0x36
#define INT_GEN_2_DURATION		0x37
#define CLICK_CFG			0x38
#define CLICK_SRC			0x39
#define CLICK_THS			0x3A
#define TIME_LIMIT			0x3B
#define TIME_LATENCY			0x3C
#define TIME_WINDOW			0x3D
